.ci/docker/env.list

+TRAVIS_OS_NAME
+TRAVIS_PULL_REQUEST
+
+BUILD_NAME
+CC
+CXX
+SUDO

.ci/docker/ubuntu-bionic

+FROM ubuntu:bionic
+
+RUN apt-get update -qq
+RUN apt-get install -y \
+    build-essential  \
+    clang \
+    cmake \
+    curl \
+    git \
+    libgl-dev \
+    libglu-dev \
+    libpython3-dev \
+    lsb-release \
+    pkg-config \
+    python3 \
+    python3-distutils \
+    software-properties-common \
+    sudo

.ci/docker/ubuntu-xenial

+FROM ubuntu:xenial
+
+RUN apt-get update -qq
+RUN apt-get install -y \
+    build-essential  \
+    clang \
+    cmake \
+    curl \
+    git \
+    libgl-dev \
+    libglu-dev \
+    libpython3-dev \
+    lsb-release \
+    pkg-config \
+    python3 \
+    software-properties-common \
+    sudo

.ci/script.sh

+#!/usr/bin/env bash
+set -ex
+
+echo "CXX="$CXX
+echo "CC="$CC
+if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then
+  $SUDO apt-get update
+  $SUDO apt-get install -y python3
+  $SUDO apt-get install -y python3-pip
+  $SUDO pip3 install -U wheel
+  $SUDO pip3 install -U setuptools
+  $SUDO python3 setup.py install
+  python3 examples/pybullet/unittests/unittests.py --verbose
+  python3 examples/pybullet/unittests/userDataTest.py --verbose
+  python3 examples/pybullet/unittests/saveRestoreStateTest.py --verbose
+fi
+cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
+make -j8
+ctest -j8 --output-on-failure
+
+# Build again with double precision
+cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
+make -j8
+ctest -j8 --output-on-failure
+
+# Build again with shared libraries
+cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
+make -j8
+ctest -j8 --output-on-failure
+$SUDO make install

.travis.yml

 language: cpp
-os:
-  - linux
-  - osx
-compiler:
-  - gcc
-  - clang
-addons:
-  apt:
-    packages:
-      - python3
-
+matrix:
+  include:
+    - os: linux
+      compiler: gcc
+      env:
+        - BUILD_NAME=TRUSTY_GCC
+        - SUDO=sudo
+    - os: linux
+      compiler: clang
+      env:
+        - BUILD_NAME=TRUSTY_CLANG
+        - SUDO=sudo
+    - os: linux
+      compiler: gcc
+      env:
+        - BUILD_NAME=XENIAL_GCC
+        - DOCKER_FILE="ubuntu-xenial"
+      services: docker
+    - os: linux
+      compiler: clang
+      env:
+        - BUILD_NAME=XENIAL_CLANG
+        - DOCKER_FILE="ubuntu-xenial"
+      services: docker
+    - os: linux
+      compiler: gcc
+      env:
+        - BUILD_NAME=BIONIC_GCC
+        - DOCKER_FILE="ubuntu-bionic"
+      services: docker
+    - os: linux
+      compiler: clang
+      env:
+        - BUILD_NAME=BIONIC_CLANG
+        - DOCKER_FILE="ubuntu-bionic"
+      services: docker
+    - os: osx
+      compiler: gcc
+      env:
+        - BUILD_NAME=OSX_GCC
+    - os: osx
+      compiler: clang
+      env:
+        - BUILD_NAME=OSX_CLANG
+before_install:
+  - if [ -n "$DOCKER_FILE" ]; then
+      docker build -t "$DOCKER_FILE" -f ".ci/docker/$DOCKER_FILE" .;
+      docker run -itd -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR --env-file .ci/docker/env.list --name bullet-docker "$DOCKER_FILE";
+    fi
 script:
-  - echo "CXX="$CXX
-  - echo "CC="$CC
-  - cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
-  - make -j8
-  - ctest -j8 --output-on-failure
-  # Build again with double precision
-  - cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
-  - make -j8
-  - ctest -j8 --output-on-failure
-  # Build again with shared libraries
-  - cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
-  - make -j8
-  - ctest -j8 --output-on-failure
-  - sudo make install
+  - if [ -n "$DOCKER_FILE" ]; then
+      docker exec bullet-docker /bin/sh -c "cd $TRAVIS_BUILD_DIR && ./.ci/script.sh";
+    else
+      '.ci/script.sh';
+    fi

CMakeLists.txt

@@ -26,16 +26,16 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
 OPTION(USE_DOUBLE_PRECISION "Use double precision"	OFF)
 OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
 OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
-OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
+OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
 
-OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
-IF (BULLET2_USE_THREAD_LOCKS)
+OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
+IF (BULLET2_MULTITHREADING)
     OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
     OPTION(BULLET2_USE_TBB_MULTITHREADING "Build Bullet 2 with support for multi-threading with Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
     IF (MSVC)
         OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
     ENDIF (MSVC)
-ENDIF (BULLET2_USE_THREAD_LOCKS)
+ENDIF (BULLET2_MULTITHREADING)
 
 
 IF(NOT WIN32)
@@ -108,7 +108,7 @@ IF(MSVC)
 	IF (CMAKE_CL_64)
 	  ADD_DEFINITIONS(-D_WIN64)
 	ELSE()
-	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	ON)
+	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	OFF)
 	  option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
 
 	  IF (USE_MSVC_SSE)
@@ -217,20 +217,23 @@ ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
 SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
 ENDIF (USE_DOUBLE_PRECISION)
 
-IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-ADD_DEFINITIONS(-DUSE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-ENDIF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ENDIF ()
 
 IF(USE_GRAPHICAL_BENCHMARK)
 ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
 ENDIF (USE_GRAPHICAL_BENCHMARK)
 
-IF(BULLET2_USE_THREAD_LOCKS)
+IF(BULLET2_MULTITHREADING)
 	ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
 	IF (NOT MSVC)
 		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 	ENDIF (NOT MSVC)
-ENDIF (BULLET2_USE_THREAD_LOCKS)
+	IF (NOT WIN32)
+		LINK_LIBRARIES( pthread )
+	ENDIF (NOT WIN32)
+ENDIF (BULLET2_MULTITHREADING)
 
 IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
     ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
@@ -313,7 +316,7 @@ IF(BUILD_PYBULLET)
 	SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
 	OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF)
 	IF(EXACT_PYTHON_VERSION)
-	set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
+	    set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
 	ENDIF(EXACT_PYTHON_VERSION)
 	# first find the python interpreter
 	FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})

Extras/BulletRobotics/CMakeLists.txt

@@ -2,16 +2,24 @@
 INCLUDE_DIRECTORIES(
 		${BULLET_PHYSICS_SOURCE_DIR}/src
 		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
 )
 
 SET(BulletRobotics_SRCS
+		../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
+		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
+		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
 		../../examples/SharedMemory/IKTrajectoryHelper.cpp
 		../../examples/SharedMemory/IKTrajectoryHelper.h
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 		../../examples/OpenGLWindow/SimpleCamera.cpp
 		../../examples/OpenGLWindow/SimpleCamera.h
 		../../examples/TinyRenderer/geometry.cpp
@@ -59,10 +67,7 @@ SET(BulletRobotics_SRCS
 		../../examples/Utils/b3ReferenceFrameHelper.hpp
 		../../examples/Utils/ChromeTraceUtil.cpp
 
-		../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
-		../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
-		../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
-		../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
+		../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
 
 		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
 		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
@@ -93,8 +98,6 @@ SET(BulletRobotics_SRCS
 		../../examples/MultiThreading/b3PosixThreadSupport.cpp
 		../../examples/MultiThreading/b3Win32ThreadSupport.cpp
 		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
-		
-
 )
 
 IF(BUILD_CLSOCKET)
@@ -102,9 +105,6 @@ IF(BUILD_CLSOCKET)
 ENDIF(BUILD_CLSOCKET)
 
 IF(WIN32)
-	LINK_LIBRARIES(
-		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-	)
 	IF(BUILD_ENET)
 		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
 	ENDIF(BUILD_ENET)
@@ -120,6 +120,10 @@ ELSE(WIN32)
 	IF(BUILD_CLSOCKET)	
 		ADD_DEFINITIONS(${OSDEF})
 	ENDIF(BUILD_CLSOCKET)
+		
+	IF(NOT APPLE)
+		LINK_LIBRARIES(  pthread ${DL} )
+	ENDIF(NOT APPLE)
 ENDIF(WIN32)
 
 IF(BUILD_ENET)
@@ -175,6 +179,8 @@ IF (INSTALL_EXTRA_LIBS)
 		../../examples/SharedMemory/PhysicsClientTCP_C_API.h
 		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
 		../../examples/SharedMemory/SharedMemoryPublic.h
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
 		DESTINATION include/bullet
 		)
 	INSTALL(TARGETS

Extras/BulletRobotics/premake4.lua

+		
+
+project ("BulletRobotics")
+		language "C++"
+		kind "StaticLib"
+		
+		includedirs {"../../src", "../../examples",
+		"../../examples/ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
+	initOpenGL()
+	initGlew()
+
+  	includedirs {
+                "../../src",
+                "../../examples",
+                "../../examples/SharedMemory",
+                "../ThirdPartyLibs",
+                "../ThirdPartyLibs/enet/include",
+                "../ThirdPartyLibs/clsocket/src",
+                }
+
+	if os.is("MacOSX") then
+--		targetextension {"so"}
+		links{"Cocoa.framework","Python"}
+	end
+
+	
+if not _OPTIONS["no-enet"] then
+
+		includedirs {"../../examples/ThirdPartyLibs/enet/include"}
+	
+		if os.is("Windows") then 
+--			targetextension {"dylib"}
+			defines { "WIN32" }
+			links {"Ws2_32","Winmm"}
+		end
+		if os.is("Linux") then
+		end
+		if os.is("MacOSX") then
+		end		
+		
+		links {"enet"}		
+
+		files {
+			"../../examples/SharedMemory/PhysicsClientUDP.cpp",
+			"../../examples/SharedMemory/PhysicsClientUDP.h",
+			"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
+			"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
+		}	
+		defines {"BT_ENABLE_ENET"}
+	end
+
+	if not _OPTIONS["no-clsocket"] then
+
+                includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
+
+		 if os.is("Windows") then
+                	defines { "WIN32" }
+                	links {"Ws2_32","Winmm"}
+       		 end
+        	if os.is("Linux") then
+                	defines {"_LINUX"}
+        	end
+        	if os.is("MacOSX") then
+                	defines {"_DARWIN"}
+        	end
+
+                links {"clsocket"}
+
+                files {
+                        "../../examples/SharedMemory/PhysicsClientTCP.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP.h",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
+                }
+                defines {"BT_ENABLE_CLSOCKET"}
+        end
+
+
+		files {